Add timer test

tracetools_test/src/test_timer.cpp

@@ -0,0 +1,47 @@
+#include <chrono>
+
+#include "rclcpp/rclcpp.hpp"
+
+using namespace std::chrono_literals;
+
+
+class TimerNode : public rclcpp::Node
+{
+public:
+    TimerNode(rclcpp::NodeOptions options) : Node("timer_node", options)
+    {
+        is_done_ = false;
+        timer_ = this->create_wall_timer(
+            1ms,
+            std::bind(&TimerNode::timer_callback, this));
+    }
+
+private:
+    void timer_callback()
+    {
+        if (is_done_) {
+            rclcpp::shutdown();
+        } else {
+            is_done_ = true;
+        }
+    }
+
+    rclcpp::TimerBase::SharedPtr timer_;
+    bool is_done_;
+};
+
+int main(int argc, char* argv[])
+{
+    rclcpp::init(argc, argv);
+
+    rclcpp::executors::SingleThreadedExecutor exec;
+    auto timer_node = std::make_shared<TimerNode>(rclcpp::NodeOptions());
+    exec.add_node(timer_node);
+
+    printf("spinning\n");
+    exec.spin();
+
+    // Will actually be called inside the timer's callback
+    rclcpp::shutdown();
+    return 0;
+}